CN114531895A - Shift gear control device - Google Patents

Abstract

A motor position calculation unit (51) calculates the actual rotational position based on the detection value of a rotational position detection unit (13) that detects the rotation of the motor (10). A target setting unit (52) sets a target shift position corresponding to the requested shift position and a target rotational position corresponding to the target shift position. The drive control unit (54) controls the driving of the motor (10) so that the actual rotational position is the target rotational position, and when the actual rotational position falls within a control range including the target rotational position, performs stop control for stopping the motor (10). The reverse rotation determination unit (55) detects reverse rotation of the motor (10). When reverse rotation of the motor (10) is detected during stop control, a shift position determination unit (56) determines that a shift position corresponding to a required shift position is determined.

Description

Shift gear control device

Cross reference to related applications

The present application is based on japanese patent application No. 2019-181710, filed on 10/1/2019, the contents of which are incorporated herein by reference.

Technical Field

The present invention relates to a shift position control device.

Background

Conventionally, a shift position control device is known which controls switching of a shift position by controlling driving of a motor. For example, in patent document 1, when the angular deviation becomes smaller than an angle determination threshold value, the control is switched to the emergency braking control. Further, when the reverse rotation of the motor is detected, the control is switched to the stationary phase conduction control.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2018-135919

Disclosure of Invention

In patent document 1, the energization is turned off after the stationary phase energization time is continued and the stationary phase energization control is continued. Here, the determination can be made in a state where the motor is reliably stopped by making the gear determination at the end of stationary phase energization, but for example, in the case where hydraulic control of the transmission is started after the gear determination, it is preferable that the gear determination is early in terms of feel. On the other hand, if the gear position determination is determined while the motor is driving and the hydraulic control of the transmission is started, the transmission may malfunction if the motor overshoots due to, for example, a momentary power off or the like. An object of the present invention is to provide a shift range control device capable of appropriately determining a range determination.

The shift range control device according to the present invention is a device for switching a shift range by controlling driving of a motor, and includes a motor position calculation unit, a target setting unit, a drive control unit, a reverse rotation determination unit, and a range determination unit.

The motor position calculation unit calculates an actual rotational position based on a detection value of a rotational position detection unit that detects rotation of the motor. The target setting unit sets a target shift position corresponding to the required shift position and a target rotational position corresponding to the target shift position. The drive control unit controls the driving of the motor so that the actual rotational position is the target rotational position, and performs stop control for stopping the motor when the actual rotational position falls within a control range including the target rotational position.

The reverse rotation determination unit detects reverse rotation of the motor. The shift range determination unit determines that the shift range corresponding to the required range is determined when reverse rotation of the motor is detected during stop control. This makes it possible to appropriately determine the determination of the shift position.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description with reference to the accompanying drawings.

Fig. 1 is a perspective view showing a shift-by-wire system according to embodiment 1.

Fig. 2 is a schematic configuration diagram showing a shift-by-wire system according to embodiment 1.

Fig. 3 is a flowchart for explaining the drive mode selection processing according to embodiment 1.

Fig. 4 is a flowchart for explaining the inversion detection processing according to embodiment 1.

Fig. 5 is a flowchart for explaining the control selection process according to embodiment 1.

Fig. 6 is a timing chart for explaining the motor control process of embodiment 1 and a schematic diagram for explaining a state in which the detent roller moves.

Fig. 7 is a timing chart for explaining the motor control process according to embodiment 1.

Fig. 8 is a timing chart for explaining the motor control process according to embodiment 1.

Fig. 9 is a timing chart for explaining the motor control process according to embodiment 1.

Fig. 10 is a timing chart for explaining the motor control process according to embodiment 1.

Fig. 11 is a flowchart for explaining the drive mode selection processing according to embodiment 2.

Detailed Description

(embodiment 1)

The shift position control device according to the present invention will be described below with reference to the drawings. In the embodiments, substantially the same structure is given the same reference numeral and description thereof is omitted.

Fig. 1 to 10 show a shift position control device according to the present embodiment. As shown in fig. 1 and 2, the shift-by-wire system 1 includes a motor 10, a shift range switching mechanism 20, a parking lock mechanism 30, a shift range control device 40, and the like.

The motor 10 is rotated by electric power supplied from a battery mounted on a vehicle, not shown, and functions as a drive source of the shift range switching mechanism 20. The motor 10 of the present embodiment is a 3-phase switched reluctance motor, and includes U-phase, V-phase, and W-phase motor windings wound around a stator, not shown.

As shown in fig. 2, the encoder 13 as a rotational position detecting unit detects a rotational position of a rotor, not shown, of the motor 10. The encoder 13 is, for example, a magnetic rotary encoder, and includes a magnet that rotates integrally with the rotor, a hall IC for magnetic detection, and the like. The encoder 13 outputs an encoder signal, which is a pulse signal, at every predetermined angle in synchronization with the rotation of the rotor.

The speed reducer 14 is provided between a motor shaft 105 (see fig. 6) of the motor 10 and the output shaft 15, and reduces the rotation of the motor 10 to output the reduced rotation to the output shaft 15. Thereby, the rotation of the motor 10 is transmitted to the shift-position switching mechanism 20. An output shaft sensor 16 that detects the angle of the output shaft 15 is provided on the output shaft 15. The output shaft sensor 16 is, for example, a potentiometer.

As shown in fig. 1, the shift range switching mechanism 20 includes a stopper plate 21, a stopper spring 25, a stopper roller 26, and the like, and transmits rotational driving force output from the reduction gear unit 14 to the manual valve 28 and the parking lock mechanism 30.

The stopper plate 21 is fixed to the output shaft 15 and driven by the motor 10. The stopper plate 21 is provided with a pin 24 protruding in parallel with the output shaft 15. The pin 24 is connected to a manual valve 28. The stopper plate 21 is driven by the motor 10, so that the manual valve 28 reciprocates in the axial direction. That is, the shift range switching mechanism 20 converts the rotational motion of the motor 10 into a linear motion and transmits the linear motion to the manual valve 28. The manual valve 28 is provided in the valve body 29. By the reciprocal movement of the manual valve 28 in the axial direction, a hydraulic pressure supply path to the hydraulic clutch, not shown, is switched, the engagement state of the hydraulic clutch is switched, and the shift range is changed.

On the detent plate 21 on the detent spring 25 side, 4 valley portions 22 corresponding to respective shift positions of P (parking), R (reverse), N (neutral), and D (drive) are formed. The detent roller 26 moves in the valley 22 in accordance with the driving of the motor 10.

A play is formed between the motor shaft 105 and the output shaft 15. In fig. 6, the reduction gear 14 and the output shaft 15 are integrated, and the "play" is formed between the motor shaft 105 and the reduction gear 14, but the motor shaft 105 and the reduction gear 14 may be integrated, and the "play" may be formed between the reduction gear 14 and the output shaft 15. "play" can be understood as the sum of play, looseness, etc. existing between the motor shaft 105 and the output shaft 15.

The stopper spring 25 is an elastically deformable plate-like urging member, and a stopper roller 26 is provided at the tip thereof. The stopper roller 26 is embedded in one of the valleys 22. The stopper spring 25 biases the stopper roller 26 toward the rotation center side of the stopper plate 21. When a rotational force of a predetermined value or more is applied to the detent plate 21, the detent spring 25 is elastically deformed, and the detent roller 26 moves in the valley portion 22. By fitting the detent roller 26 into one of the valley portions 22, the swing of the detent plate 21 is restricted, the axial position of the manual valve 28 and the state of the parking lock mechanism 30 are determined, and the shift position of the automatic transmission 5 is fixed.

The parking lock mechanism 30 has a parking lever 31, a cone 32, a parking lock cylinder 33, a shaft 34, and a parking gear 35. The parking lever 31 is formed in a substantially L-shape, and one end 311 side is fixed to the stopper plate 21. A cone 32 is provided on the other end 312 side of the parking lever 31. The cone 32 is formed so as to be reduced in diameter toward the other end 312. When the detent plate 21 is rotated in a direction in which the detent roller 26 is fitted into the valley corresponding to the P range, the cone 32 moves in the direction of arrow P.

The parking lock cylinder 33 is in contact with the conical surface of the cone 32 and is swingable about the shaft 34. A convex portion 331 engageable with the parking gear 35 is provided on the parking gear 35 side of the parking lock cylinder 33. When the cone 32 moves in the direction of arrow P by the rotation of the detent plate 21, the parking lock post 33 is pushed up, and the convex portion 331 engages with the parking gear 35. On the other hand, if the cone 32 moves in the direction of the arrow other than p (notp), the engagement of the convex portion 331 and the parking gear 35 is released.

The parking gear 35 is provided on an unillustrated axle and is engageable with the convex portion 331 of the parking lock cylinder 33. The rotation of the axle is restricted with the parking gear 35 engaged with the convex portion 331. When the shift range is a non-P range that is a range other than P, the parking gear 35 is not locked by the parking lock column 33, and the rotation of the axle is not hindered by the parking lock mechanism 30. When the shift range is the P range, the parking gear 35 is locked by the parking lock column 33, and the rotation of the axle is restricted.

As shown in fig. 2, the shift position control device 40 includes a drive circuit 41, an ECU50, and the like. The drive circuit 41 is a 3-phase inverter that switches the energization of the motor windings, and has switching elements, not shown, that switch the energization to each phase of the motor 10. A motor relay 46 is provided between the drive circuit 41 and the battery. The motor relay 46 is turned on when a start switch of the vehicle, such as an ignition switch, is turned on, and supplies power to the motor 10. When the motor relay 46 is turned off, the supply of electric power to the motor 10 side is cut off.

The ECU50 is mainly composed of a microcontroller or the like, and includes therein a CPU, a ROM, a RAM, an I/O, a bus connecting these components, and the like, all of which are not shown. Each process in the ECU50 may be a software process realized by the CPU executing a program stored in advance in a physical memory device such as a ROM (that is, a non-transitory tangible recording medium can be read out), or may be a hardware process realized by a dedicated electronic circuit. The same applies to the host ECU60 described later.

The ECU50 controls the driving of the motor 10 based on a shift signal corresponding to a driver's request for a shift range, a signal from a brake switch, a vehicle speed, and the like, thereby controlling the switching of the shift range. In the present embodiment, the ECU50 acquires information such as a brake signal, a vehicle speed, and a requested shift position from the upper ECU 60. The ECU50 includes the motor position calculating unit 51, the target setting unit 52, the mode selecting unit 53, the drive control unit 54, the inversion determining unit 55, the shift position determining unit 56, and the like.

The motor position calculation unit 51 counts the pulse edges of each phase of the encoder signal output from the encoder 13, and calculates an encoder count value θ en. The encoder count value θ en is a value corresponding to the rotational position of the motor 10, and corresponds to "actual rotational position". In the present embodiment, the rotation direction of the motor 10 when switching from the P range to the D range is defined as forward rotation, the rotation direction of the motor 10 when switching from the D range to the P range is defined as reverse rotation, and the encoder count value θ en is counted up (count up) when rotating in the forward direction and down (count down) when rotating in the reverse direction.

The target setting unit 52 sets a target shift range corresponding to the requested shift range acquired from the upper ECU 60. In addition, a target count value θ cmd is set corresponding to the target shift position as a position for stopping the motor 10. The mode selection section 53 selects a drive mode.

The drive control unit 54 controls the drive of the motor 10 so that the detent roller 26 fits into the valley portion 22 corresponding to the target shift position in accordance with the selected drive mode. The drive control unit 54 drives the motor 10 by feedback control when the target shift position is changed. The feedback is denoted as "F/B" in the figure, etc. Specifically, the energization phase corresponding to the encoder count value θ en is energized, and the energization phase is switched corresponding to the encoder count value θ en to rotate the motor 10.

When the encoder count value θ en falls within the control range including the target count value θ cmd, the drive mode is switched from the feedback control to the stop control, and the motor 10 is stopped. The stop control in the present embodiment is stationary phase energization control for continuing energization to the same phase. In the present embodiment, after the stop control is performed for the stop control duration TH1, the drive mode is set to the standby mode, and the drive control of the motor 10 is ended. The stop control duration TH1 is set corresponding to the time required to stop the motor 10. Hereinafter, a case where the encoder count value θ en falls within a control range (for example, θ cmd ± 2 counts) including the target count value θ cmd is referred to as "reaching the target".

The reverse rotation determination unit 55 determines reverse rotation of the rotor of the motor 10 based on the encoder count value θ en. Hereinafter, the reverse rotation of the rotor of the motor 10 is simply referred to as "motor reverse rotation". In the present embodiment, the case where the rotation direction of the motor 10 is the opposite direction to that in the feedback control is referred to as "motor reverse rotation". The shift range determination unit 56 determines the shift range determination in the shift-by-wire system 1, and when the shift range determination is determined, transmits a shift range determination flag FlgC, which is information indicating that the shift range has been determined, to the upshift ECU 60.

The upper ECU60 controls the driving of the speed change hydraulic pressure control solenoid 6 based on the vehicle speed, the accelerator position, the driver's requested shift position, and the like. In the present embodiment, when the driver requests a shift range change and the range determination flag FlgC from the ECU50 is ON (ON), the drive of the hydraulic pressure control solenoid 6 for gear shift is started. The gear shift stage is controlled by controlling the gear shift hydraulic pressure control solenoid 6. The number of the speed-changing hydraulic control solenoids 6 is set to correspond to the number of the speed-changing stages or the like. When the shift position specification flag FlgC is on, the host ECU60 notifies the user of the specified shift position by changing the display of the instrument panel, for example.

In terms of feel, it is preferable that the time from when the shift position is required to be changed to when the hydraulic control of the automatic transmission 5 is started is short. Conversely, if the hydraulic control is started while the motor 10 is being driven, there is a possibility that an abnormality may occur in the automatic transmission 5 when the motor 10 overshoots or undershoots due to, for example, a momentary power-off or the like.

Here, in a state where the detent roller 26 is located in the valley portion 22 corresponding to the required gear, if reverse rotation of the motor 10 is detected, overshoot does not occur, and the detent roller 26 can be held in the valley portion 22 corresponding to the required gear. Therefore, in the present embodiment, the shift position is determined based on the reverse rotation determination of the motor 10 during the stop control, so that the hydraulic control of the automatic transmission 5 is started at the earliest possible timing.

The drive mode selection processing of the present embodiment will be described based on the flowchart of fig. 3. This process is executed at a predetermined cycle (for example, 1[ ms ]), for example, by the mode selector 53 of the ECU 50. Further, a part of the processing may be executed by another arithmetic unit of the ECU 50. The same applies to other control processes. The operation cycle may be the same or different for each process. Hereinafter, the "step" of step S101 is omitted and simply referred to as symbol "S". The same applies to the other steps.

In S101, the mode selection unit 53 determines the current drive mode. The process proceeds to S102 when the drive mode is the standby mode, to S104 when the feedback mode is the feedback mode, and to S106 when the stop mode is the stop mode.

In S102, the mode selection unit 53 determines whether or not the target shift position has been switched. If it is determined that the target shift stage has not been switched (S102: NO), the standby mode is continued. If it is determined that the target shift range has been switched (yes in S102), the process proceeds to S103, and the drive mode is switched to the feedback mode.

In S104 to which the mode transition is made when the drive mode is the feedback mode, the mode selection unit 53 determines whether or not the encoder count value θ en has reached the target, based on the encoder count value θ en and the target count value θ cmd. If it is determined that the target is not reached (S104: NO), the feedback mode is continued. If it is determined that the target is reached (yes in S104), the process proceeds to S105, and the drive mode is switched to the stop mode.

In S106 to which the transition is made when the drive mode is the stop mode, the mode selection portion 53 determines whether or not the stop control duration TH1 has elapsed since the switching to the stop mode. When it is determined that the stop control duration TH1 has not elapsed (S106: no), the stop mode is continued. If it is determined that the stop control duration TH1 has elapsed (yes in S106), the process proceeds to S107.

In S107, the mode selection unit 53 determines whether or not a re-feedback flag FlgA or a target re-setting flag FlgB, which will be described later, is ON (ON). If it is determined that the refeedback flag FlgA or the target-resetting flag FlgB is on (S107: yes), the process returns to S102, and the drive mode is switched to the feedback mode. When the target resetting flag FlgB is on, the target shift position corresponding to the required shift position and the target count value θ cmd are reset. When it is determined that both the refeedback flag FlgA and the target-resetting flag FlgB are OFF (OFF) (S107: no), the process proceeds to S108, and the drive mode is set to the standby mode.

The inversion detection processing is described based on the flowchart of fig. 4. This process is executed at a predetermined cycle (for example, 1 ms) by, for example, the inversion determination unit 55 of the ECU 50. In S201, the inversion determination unit 55 determines whether or not the drive mode is the stop mode. When it is determined that the drive mode is not the stop mode (no in S201), the process proceeds to S202, and the inversion flag FlgR is turned off. If it is determined that the drive mode is the stop mode (yes in S201), the process proceeds to S203.

In S203, the inversion determination unit 55 determines whether or not a value obtained by subtracting the previous value from the present value of the encoder count value θ en is 0. Here, an affirmative determination is made in the case where the present value of the encoder count value θ en is equal to the previous value. In the figure, the suffix (n) indicates the current value and (n-1) indicates the previous value. If it is determined that the value obtained by subtracting the previous value from the present value of the encoder count value θ en is 0 (yes in S203), the process proceeds to S204, and a dead timer for counting the encoder dead time T2 is counted. When it is determined that the value obtained by subtracting the previous value from the present value of the encoder count value θ en is not 0 (no in S203), the process proceeds to S205.

In S205, the inversion determination unit 55 determines whether or not the rotation direction of the motor 10 in the feedback mode before the stop mode is entered is the forward rotation direction. If it is determined that the rotation direction of the motor 10 is the forward rotation direction (yes in S205), the process proceeds to S206, and if it is determined that the rotation direction is the reverse rotation direction (no in S205), the process proceeds to S207.

In S206, the inversion determination unit 55 determines whether or not a value obtained by subtracting the previous value from the present value of the encoder count value θ en is a negative value. Here, an affirmative determination is made in the case where the present value of the encoder count value θ en is smaller than the last value. If it is determined that the value obtained by subtracting the previous value from the present value of the encoder count value θ en is greater than 0 (no in S206), the motor 10 does not rotate in the reverse direction, so the process of S208 is not performed, and the routine is ended. If it is determined that the value obtained by subtracting the previous value from the present value of the encoder count value θ en is a negative value (yes in S206), the process proceeds to S208, and the inversion flag FlgR is turned on.

In S207, the inversion determination unit 55 determines whether or not a value obtained by subtracting the previous value from the present value of the encoder count value θ en is a positive value. Here, in the case where the present value of the encoder count value θ en is larger than the last value, an affirmative determination is made. If it is determined that the value obtained by subtracting the previous value from the present value of the encoder count value θ en is smaller than 0 (no in S207), the motor 10 does not rotate reversely, so the process of S208 is not performed, and the routine is ended. When it is determined that the value obtained by subtracting the previous value from the present value of the encoder count value θ en is a positive value (no in S207), the process proceeds to S208, and the inversion flag FlgR is turned on.

The control selection process is described based on the flowchart of fig. 5. This process is executed at a predetermined cycle (for example, 1 ms) by the shift position determination unit 56 of the ECU 50. In S301, the shift position determination unit 56 determines whether or not the drive mode is the stop mode. When it is determined that the drive mode is not the stop mode (no in S301), the process proceeds to S302, where the refeedback flag FlgA, the target-resetting flag FlgB, and the shift-position specifying flag FlgC are turned off. If it is determined that the drive mode is the stop mode (yes in S301), the process proceeds to S303.

In S303, the shift position determination unit 56 determines whether or not the target shift position matches the required shift position. When it is determined that the target shift stage does not match the required shift stage (no in S303), the process proceeds to S304, where the target shift stage is reset so as to match the required shift stage, and the target reset flag FlgB is set to on in S305. If it is determined that the target shift position matches the required shift position (yes in S303), the process proceeds to S306.

In S306, the shift determination unit 56 determines whether or not the count deviation Δ CP, which is the absolute value of the difference between the target count value θ cmd and the encoder count value θ en, is equal to or less than the reactivation determination value CPerr. The re-drive determination value CPerr is set according to the position at which the motor 10 is driven again as necessary. If it is determined that the count deviation Δ CP is larger than the redrive determination value CPerr (no in S306), the process proceeds to S308, and the refeedback flag FlgA is turned on. If it is determined that the count deviation Δ CP is equal to or less than the redrive determination value CPerr (yes in S306), the process proceeds to S307.

In S307, the shift position determination unit 56 determines whether or not the target shift position matches the current shift position. If it is determined that the target gear does not match the current gear (no in S307), the process proceeds to S308, and the refeedback flag FlgA is set to on. If it is determined that the target gear matches the current gear (yes in S307), the process proceeds to S309.

In S309, the shift position determination unit 56 determines whether or not the reverse rotation flag FlgR is on. If it is determined that the inversion flag FlgR is on (yes in S309), the process proceeds to S311. If it is determined that the inversion flag FlgR is off (no in S308), the process proceeds to S310.

In S310, the range determination unit 56 determines whether or not the stagnation determination time TH2 has elapsed since the encoder count value θ en stagnated. The stagnation determination time TH2 is set to a time shorter than the stop control duration TH 1. If it is determined that the stagnation determination time TH2 has not elapsed since the encoder count value θ en stagnated (no in S310), the routine is ended without performing the process in S311. If it is determined that the stagnation determination time TH2 has elapsed since the encoder count value θ en stagnated (yes in S310), the process proceeds to S311, and the shift range determination flag FlgC is set to on. The shift range determination unit 56 sends a shift range determination flag FlgC to the upper ECU 60.

The motor control process is described based on the timing charts of fig. 6 to 10. The timing chart of fig. 6 shows the drive mode, the requested shift position from the upper ECU60, the current shift position and the target shift position, the motor position, the reverse rotation flag FlgR, and the shift position specifying flag FlgC from the top with the common time axis on the horizontal axis. In fig. 6, the target shift position and the target count value θ cmd are indicated by a single-dot chain line, and the current shift position and the encoder count value θ en are indicated by a solid line. The same applies to fig. 7 and later. In addition, in the lower side of the timing chart of fig. 6, the rotation direction of the motor 10 is set to the left-right direction on the paper surface, and a state in which the stopper roller 26 moves on the stopper plate 21 is schematically shown.

At time x10, if the driver requests the shift range to be switched from the P range to the D range by the driver's shift operation, the ECU50 transmits information indicating that the requested range is set to the D range from the upper ECU 60. The ECU50 sets the target shift position to the D shift position, and sets a target count value θ cmd corresponding to the target shift position. The ECU50 switches the drive mode from the standby mode to the feedback mode, and drives the motor 10 so that the encoder count value θ en becomes the target count value θ cmd. Thereby, the detent roller 26 moves in the direction from the valley portion corresponding to the P range to the valley portion corresponding to the D range.

At time x11, if the encoder count value θ en reaches the target, the drive mode is switched from the feedback mode to the stop mode. Further, if reverse rotation of the motor 10 is detected at time x12 in the stop mode, the reverse rotation flag FlgR is turned on. If the motor 10 is reversed in the state where the stop control is performed, the motor 10 does not overshoot, so the detent roller 26 can be reliably held in the valley portion corresponding to the D range. Therefore, in the present embodiment, the shift position determination flag FlgC is turned on at time x12 and transmitted to the upper ECU 60. In the upper ECU60, if the shift position determination flag FlgC is on, the hydraulic control of the automatic transmission 5 is started. Further, the shift position display of the instrument panel or the like is switched to the D-range.

At a time x13 when the stop control duration TH1 has elapsed from the time x11 at which the stop control is started, the stop control is ended, and the mode shifts to the standby mode. The reverse rotation flag FlgR and the shift position determination flag FlgC are set to off. This makes it possible to start the hydraulic control earlier than in the case where the shift position is determined at the time x13 when the stop control is completed and the hydraulic control of the automatic transmission 5 is started, which contributes to improvement in feeling.

In the timing charts of fig. 7 to 10, the common time axis is represented on the horizontal axis, and the drive mode, the requested gear from the upper ECU60, the current gear and the target gear, the motor position, the reverse rotation flag FlgR, the gear specifying flag FlgC, the feedback flag FlgA, and the target resetting flag FlgB are shown from the top.

Fig. 7 shows a case where the required shift position is changed during the shift position switching. The processing at time x20 is the same as the processing at time x10 in fig. 6. In fig. 7, at time x21 during the shift range switching, the requested shift range is changed from the D shift range to the N shift range.

At time x22, if the encoder count value θ en reaches the target, the drive mode is switched from the feedback mode to the stop mode. At this time, since the required gear does not coincide with the target gear, the target resetting flag FlgB is turned on. At time x23 during the stop control, the motor 10 rotates in reverse and the reverse rotation flag FlgR is on, but since the target resetting flag FlgB is on, the shift position determination flag FlgC is not on at this time point and the shift position determination is not performed.

At a time x24 when the stop control duration TH1 has elapsed from the time x22 when the stop control is started, the target reset flag FlgB is on, and therefore the target shift position and the target count value θ cmd are reset, the drive mode is switched to the feedback mode, and the motor 10 is driven. The inversion flag FlgR and the target reset flag FlgB are set to off.

At time x25, if the encoder count value θ en reaches within the control range including the newly set target count value θ cmd, the drive mode is switched from the feedback mode to the stop mode. Further, at time x26 in the stop mode, if reverse rotation of the motor 10 is detected, the reverse rotation flag FlgR is set to on. At this time, since the refeedback flag FlgA and the target-resetting flag FlgB are off, the shift-position specifying flag FlgC is on and sent to the upper ECU 60. The processing at time x26 and time x27 is the same as the processing at time x12 and time x13 in fig. 6.

Fig. 8 shows an example of switching the shift range from the P range to the N range, and shows a case where an overshoot of the motor 10 occurs. The processing from time x30 to time x31 is the same as the processing at time x10 and time x11 in fig. 6, except that the requested shift position and the target shift position are N shift positions.

At time x32 during the stop control, if the count deviation Δ CP is larger than the redrive determination value CPerr due to the overshoot of the motor 10, the refeedback flag FlgA is set to on. At time x33 during the stop control, the motor 10 is in reverse rotation and the reverse rotation flag FlgR is on, but since the refeedback flag FlgA is on, the shift position determination flag FlgC is not on at this time point and the shift position determination is not performed.

At time x34 when the stop control duration T1 has elapsed from time x31 when the stop control is started, the re-feedback flag FlgA is on, and therefore the drive mode is switched to the feedback mode, and the motor 10 is driven. Since the required gear is not changed, the target gear and the target count value θ cmd are not changed.

At time x35, if the encoder count value θ en reaches within the control range including the target count value θ cmd again, the drive mode is switched from the feedback mode to the stop mode. Further, at time x36 in the stop mode, if reverse rotation of the motor 10 is detected, the reverse rotation flag FlgR is set to on. At this time, since the refeedback flag FlgA and the target-resetting flag FlgB are off, the shift-position specifying flag FlgC is on and sent to the upper ECU 60. The processing at time x36 and time x37 is the same as the processing at time x12 and time x13 in fig. 6.

Fig. 9 shows an example of switching the shift range from the P range to the N range, and shows a case where an overshoot of the motor 10 occurs. The processing from time x40 to time x41 is the same as the processing at time x10 and time x11 in fig. 6, except that the requested shift position and the target shift position are N shift positions.

At time x42, if the detent roller 26 moves to the valley portion 22 corresponding to the D range due to the overshoot of the motor 10 and the current range is the D range, the target range does not match the current range, and therefore the refeedback flag FlgA is set to on. At time x43 during the stop control, the motor 10 is in reverse rotation and the reverse rotation flag FlgR is on, but since the refeedback flag FlgA is on, the shift position determination flag FlgC is not on at this time point and the shift position determination is not performed. The processing from time x44 to time x47 is the same as the processing from x34 to time x37 in fig. 8.

Fig. 10 shows a case where the motor 10 is stopped without being reversely rotated. The processing at time x50 and time x51 is the same as the processing at time x10 and time x11 in fig. 6. At time x52, if the motor 10 is not rotating in reverse and the encoder count value θ en stagnates, the timing of the encoder stagnation time T2 is started. If the stagnation of the encoder count value θ en continues for the stagnation determination time TH2, the range determination flag FlgC is set to on at the time x53 when the stagnation determination time TH2 elapses from the time x52, and is transmitted to the upper ECU 60.

At a time x54 when the stop control duration TH1 has elapsed from the time x51 at which the stop control is started, the stop control is ended, and the mode shifts to the standby mode. Further, the shift position determination flag FlgC is set to off. In the present embodiment, since the stagnation determination time TH2 is set to be shorter than the stop control continuation time TH1, even when the motor 10 is stopped within the control range without reversing, the start of the hydraulic control of the automatic transmission 5 can be made earlier than when the shift position is determined at the time x54 at which the stop control is completed, which contributes to improvement in the feeling.

As described above, the shift range control device 40 according to the present embodiment switches the shift range by controlling the driving of the motor 10, and includes the motor position calculation unit 51, the target setting unit 52, the drive control unit 54, the inversion determination unit 55, and the range determination unit 56. The motor position calculation unit 51 calculates an encoder count value θ en based on a detection value of the encoder 13 that detects the rotation of the motor 10. The target setting unit 52 sets a target shift position corresponding to the required shift position and a target count value θ cmd corresponding to the target shift position. The drive control unit 54 controls the drive of the motor 10 so that the encoder count value θ en becomes the target count value θ cmd, and performs stop control for stopping the motor 10 when the encoder count value θ en falls within a control range including the target count value θ cmd.

The reverse rotation determining unit 55 detects reverse rotation of the motor 10. When reverse rotation of the motor 10 is detected during stop control, the shift range determination unit 56 determines that the shift range corresponding to the required shift range is determined. In the present embodiment, attention is paid to the fact that the motor is not overshot when the reverse rotation during the stop control is detected, and it is determined that the shift range is determined when the reverse rotation is detected. Thus, the determination of the shift position can be appropriately determined. Further, for example, the gear determination can be performed in a shorter time than in the case where the gear determination is performed after the stop control is completed. Further, since the hydraulic control of the automatic transmission 5 is started early by making the shift position determination fast, the driver's feeling can be improved.

The range determination unit 56 determines that the shift range corresponding to the required range is determined when the encoder count value θ en remains in a state of stagnation for a stagnation determination time TH2 set to a time shorter than a stop control duration TH1 for which the stop control is continued during the stop control. Thus, the gear position determination can be appropriately determined even when the rotor is not rotating reversely.

When the required shift position does not match the target shift position during the stop control, the ECU50 resets the target shift position to redrive the motor 10, and determines the shift position to be the required shift position matching the target shift position. In other words, for example, when the required gear does not match the target gear, such as when the required gear is changed during gear shifting, even if reverse rotation of the motor 10 is detected during stop control, the shift gear is not determined and the motor 10 is driven again. This can prevent erroneous determination of the shift position determination.

When the target shift position does not coincide with the current shift position during stop control, the ECU50 redrives the motor 10 and determines the shift position while the target shift position coincides with the current shift position. In other words, for example, in the case where the target gear does not coincide with the current gear due to overshoot, even if reverse rotation of the motor 10 is detected in the stop control, the shift gear is not determined, and the motor 10 is re-driven. This can prevent erroneous determination of the shift position determination.

When the count deviation Δ CP, which is the deviation between the target count value θ cmd and the encoder count value θ en during the stop control, is larger than the reactivation determination value CPerr, the ECU50 reactivates the motor 10 and determines the shift position determination in a state where the count deviation Δ CP is equal to or smaller than the reactivation determination value CPerr. In other words, for example, when the count deviation Δ CP is larger than the redrive determination value CPerr due to the overshoot, the shift range is not determined and the motor 10 is redriven even if the reverse rotation of the motor 10 is detected in the stop control. This can prevent erroneous determination of the shift position determination.

When determining that the shift range corresponding to the required range is determined, the ECU50 notifies the host ECU60, which is another control unit, of information indicating that the shift range is determined. This enables various processes to be quickly started, which are executed by the gear position determination, such as hydraulic pressure control of the automatic transmission 5 and a report to the user.

(embodiment 2)

Fig. 11 shows embodiment 2. The present embodiment will be described mainly in terms of a difference in the drive mode selection processing. The drive mode selection processing according to the present embodiment will be described based on the flowchart of fig. 11.

In the present embodiment, when it is determined in S106 that the stop control duration TH1 has not elapsed (no in S106), the process proceeds to S107, and it is determined whether or not the refeedback flag FlgA or the target-resetting flag FlgB is on. If it is determined that the refeedback flag FlgA or the target-resetting flag FlgB is on (S107: yes), the process proceeds to S103, and the drive mode is switched to the feedback mode. When it is determined that both the refeedback flag FlgA and the target-resetting flag FlgB are off (S107: no), the stop control is continued.

That is, in the present embodiment, when the requested shift range is changed during the shift range switching, or when the motor 10 overshoots, the feedback mode is switched to without waiting for the stop control duration TH1 to elapse. This configuration also achieves the same effects as those of the above embodiment.

In the embodiment, the encoder 13 corresponds to the "rotational position detecting portion", the upper ECU60 corresponds to the "other control portion", the encoder count value θ en corresponds to the "actual rotational position", the target count value θ cmd corresponds to the "target rotational position", the count deviation Δ CP corresponds to the "deviation between the target rotational position and the actual rotational position", and the shift range determination flag FlgC corresponds to the "information indicating that the shift range has been determined".

(other embodiments)

In the above embodiment, the rotational position detecting unit is an encoder. In another embodiment, the rotational position of the rotor may be detected, and for example, a linear sensor such as a resolver may be used. In the above-described embodiment, a potentiometer is exemplified as the output shaft sensor. In other embodiments, a sensor other than the potentiometer may be used as the output shaft sensor, or the output shaft sensor may be omitted.

In the above embodiments, the motor is a switched reluctance motor. In another embodiment, a motor other than the switched reluctance motor, for example, a DC brushless motor may be used. In the above embodiment, 4 valley portions are provided on the detent plate. In other embodiments, the number of valleys is not limited to 4, and may be several. For example, the number of valley portions of the detent plate may be two, and the P-range and the non-P-range may be switched. The shift position switching mechanism, the parking lock mechanism, and the like may be different from those of the above embodiments.

In the above embodiment, the speed reducer is provided between the motor shaft and the output shaft. The details of the speed reducer are not described in the above embodiments, and any configuration may be adopted, such as a configuration using a cycloid gear, a planetary gear, a spur gear that transmits torque from a speed reduction mechanism substantially coaxial with the motor shaft to the drive shaft, or a configuration using a combination of these. In other embodiments, the speed reducer between the motor shaft and the output shaft may be omitted, or a mechanism other than the speed reducer may be provided.

The control unit and the method thereof according to the present invention may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit and the method thereof according to the present invention may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method thereof according to the present invention may be realized by one or more special purpose computers each including a combination of a processor and a memory programmed to execute one or more functions and a processor including one or more hardware logic circuits. The computer program may be stored in a non-removable tangible computer-readable medium as instructions to be executed by a computer. As described above, the present invention is not limited to the above embodiments at all, and can be implemented in various forms without departing from the scope of the invention.

The invention has been described in terms of embodiments. However, the present invention is not limited to the embodiment and the structure. The present invention also includes various modifications and modifications within the equivalent scope. In addition, various combinations and forms, and further, other combinations and forms including only one element, more than one element, or less than one element are also within the scope and spirit of the present invention.

Claims (6)

1. A shift range control device for switching a shift range by controlling driving of a motor (10),

the disclosed device is provided with:

a motor position calculation unit (51) that calculates an actual rotational position based on a detection value of a rotational position detection unit (13) that detects the rotation of the motor;

a target setting unit (52) that sets a target shift position corresponding to the requested shift position and a target rotational position corresponding to the target shift position;

a drive control unit (54) that controls the driving of the motor so that the actual rotational position becomes the target rotational position, and performs stop control for stopping the motor when the actual rotational position falls within a control range that includes the target rotational position;

a reverse rotation determination unit (55) that detects reverse rotation of the motor; and

and a shift position determination unit (56) that determines that the shift position corresponding to the required shift position is determined when reverse rotation of the motor is detected during the stop control.

2. Shift position control device according to claim 1,

the range determination determining unit determines that the shift range corresponding to the required range is determined when a state in which the actual rotational position is stopped continues for a stop determination time in the stop control, and the stop determination time is set to a time shorter than a stop control duration time during which the stop control is continuously performed.

3. Shift position control device according to claim 1 or 2,

when the required gear does not coincide with the target gear in the stop control, the target gear is reset to re-drive the motor, and the gear determination is performed in a state where the required gear coincides with the target gear.

4. Shift position control device according to claim 1 or 2,

when the target shift position does not coincide with the current shift position in the stop control, the motor is re-driven, and a shift position determination is performed in a state where the target shift position coincides with the current shift position.

5. Shift position control device according to claim 1 or 2,

when the deviation between the target rotational position and the actual rotational position is larger than a re-drive determination value during the stop control, the motor is re-driven, and the shift position determination is performed in a state where the deviation is equal to or smaller than the re-drive determination value.

6. The shift position control device according to any one of claims 1 to 5,

when it is determined that the shift range corresponding to the required range is specified, information indicating that the shift range is specified is notified to another control unit (60).

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